专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US4590577A Welding robot controlling method 失效
标题翻译：焊接机器人控制方法
公开(公告)号：US4590577A
公开(公告)日：1986-05-20
申请号：US432785
申请日：1982-12-01
申请人： Satoru Nio , Toyoji Hamashima , Shinobu Sato
发明人： Satoru Nio , Toyoji Hamashima , Shinobu Sato
IPC分类号： B23K9/127 , G05B19/42
CPC分类号： B23K9/1272 , G05B19/42 , G05B2219/36417
摘要： A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after completion of the locus correction.
摘要翻译：一种焊接机器人控制方法，用于控制焊接机器人，其具有指向教导方向的尖端的焊枪和间歇地产生焊炬尖端的轨迹校正信号的传感器，包括：（1）给出轨迹校正信号作为在与焊接线方向相交的平面上的任意数量的二维矢量的合成矢量，（2）通过在由合成矢量构成的合成矢量的方向上控制机器人的三个基本轴来校正轨迹，当生成轨迹校正信号时，其方向平行于连接两个示教点并穿过焊炬的尖端和轨迹校正矢量的预定长度向量，（3）控制三个基本轴机器人，使得焊炬的尖端在与连接两个教学点的线平行的线上移动，直到随后的轨迹校正信号完成轨迹校正后，再次给出nal。

2. 发明授权

US4677276A Method of welding robot control which controls the three basic axes of a robot to provide a repetition of a weaving pattern along a robot locus 失效
标题翻译：焊接机器人控制的方法，其控制机器人的三个基本轴线以提供沿着机器人轨迹的织造图案的重复
公开(公告)号：US4677276A
公开(公告)日：1987-06-30
申请号：US432748
申请日：1982-11-23
申请人： Satoru Nio , Toyoji Hamashima , Shinobu Sato
发明人： Satoru Nio , Toyoji Hamashima , Shinobu Sato
IPC分类号： B23K9/02 , G05B19/423 , B23K9/12
CPC分类号： G05B19/423 , B23K9/0216 , G05B2219/49384
摘要： A method of controlling a welding robot substantially comprises (i) teaching three points in the neighborhood of a teaching line to define a weaving pattern, and (ii) controlling three basic axes of a welding robot so that a welding torch tip of the robot moves on one of the surfaces of a triangular pillar formed by shifting a triangular plane defined by the above three points along the teaching line, while executing a weaving operation which is determined by a weaving amplitude, a weaving frequency, and a welding velocity. After continuing the above movement until the torch tip arrives at the end point of the teaching line, the weaving operation along the next teaching line is effected utilizing a new triangular plane which is formed by rotating the former triangular plane on an axis defined by the former teaching line and the next teaching line. By utilizing and repeating such rotation, there is no need to teach a weaving pattern at each teaching line and an operator can easily teach the welding pattern with any complex weaving pattern.
摘要翻译：控制焊接机器人的方法基本上包括（i）教导教导线附近的三个点来定义编织图案，以及（ii）控制焊接机器人的三个基本轴线，使得机器人的焊炬尖端移动在通过由编织振幅，编织频率和焊接速度确定的织造操作的同时沿着教导线移动由上述三个点限定的三角形平面而形成的三角柱的一个表面上。继续上述运动直到割枪尖端到达教导线的终点，沿着下一条教导线的织造操作是利用一个新的三角形平面来实现的，该三角形平面是通过将前三角形平面旋转在由前者教学线和下一条教学线。通过利用并重复这种旋转，不需要在每个教导线上教导编织图案，并且操作者可以以任何复杂的编织图案容易地教导焊接图案。

3. 发明授权

US4495588A Robot locus control system 失效
标题翻译：机器人轨迹控制系统
公开(公告)号：US4495588A
公开(公告)日：1985-01-22
申请号：US359548
申请日：1982-03-18
申请人： Satoru Nio , Shinobu Sato , Hajime Fujii , Toyoji Hamashima
发明人： Satoru Nio , Shinobu Sato , Hajime Fujii , Toyoji Hamashima
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , G05B19/18 , G05B19/404 , G05B19/408 , G05B19/4093 , G05B19/42 , G05B13/00
CPC分类号： B25J9/161 , G05B19/4083 , G05B19/42 , G05B2219/36503 , G05B2219/45135
摘要： In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.
摘要翻译：在机器人轨迹控制机构中，向机器人教导要由机器人处理的物体的前三个代表点和第一工作点的坐标，当机器人和物体的相对位置改变时，第二教导与前三个代表点对应的三个代表点，根据前三个代表点与第一工作点和第二三个代表点的相对位置计算第二工作点的坐标，从而命令机器人工作轨迹。

4. 发明授权

US4528632A Industrial articulated robot linear interpolation control device 失效
标题翻译：工业铰接式机器人线性插补控制装置
公开(公告)号：US4528632A
公开(公告)日：1985-07-09
申请号：US355657
申请日：1982-03-08
申请人： Satoru Nio , Shinobu Sato , Shigemi Nobayashi , Toyoji Hamashima
发明人： Satoru Nio , Shinobu Sato , Shigemi Nobayashi , Toyoji Hamashima
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , G05B19/41 , G05B19/4103 , G05B19/416 , B25J9/00 , B25J13/00
CPC分类号： G05B19/41 , G05B2219/34037 , G05B2219/34167 , G05B2219/34179 , G05B2219/43006
摘要： In a control device for an industrial articulated robot, in the linear interpolation between two specified points, the distance between the two points is divided into segments, and the interpolation increments of the articulation drive axes for each interpolation internal, which correspond to the segments, are calculated for interpolation so that the interpolation increments are distributed uniformly with time.
摘要翻译：在用于工业铰接机器人的控制装置中，在两个指定点之间的线性插补中，两点之间的距离被划分成段，并且对应于段的每个插值内部的关节运动轴的插值增量，被计算用于插值，使得插值增量随时间均匀分布。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式